JP2648794B2 - Robot holding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device for a robot which is used for, for example, an assembling robot and which can easily grip components having different shapes and sizes.

[0002]

2. Description of the Related Art For example, an assembling robot performs operations of gripping a component, carrying the component, attaching the component to another component, and releasing the component. A gripping device is attached to the hand for gripping parts. The gripping device has a gripping member composed of a pair of fingers or claws or the like, and is often configured to hold a component between the pair of gripping members. On the other hand, components to be handled include those having various shapes and sizes, and it is necessary to prepare gripping members having various shapes and sizes according to the various components.

[0003]

Therefore, a plurality of types of gripping members are prepared for one assembly robot, and the gripping members are selected and exchanged according to the parts to be gripped and used. Will be. In such a configuration in which the gripping members are exchanged and used, a space for installing a plurality of types of gripping members and a space for replacement work are required, and there has been a problem that the working space becomes large. In addition, there is a problem that a considerable amount of time is required to replace the gripping member, and the working efficiency of the assembling robot is reduced. Therefore, an attempt has been made to enable a plurality of types of components to be gripped by a common gripping member, but in this case, there is a restriction that the shapes of the gripped components must be similar.

An object of the present invention is to provide two sets of gripping members,
An object of the present invention is to provide a gripping device for a robot that can easily grip a plurality of types of components without replacing the gripping member.

[0005]

A robot gripping device according to the present invention will be described with reference to FIG.
A gripping device attached to the fixed gripping member 2
And a movable gripping member 3 movable with respect to the fixed gripping member.
A first gripping means including a driving means 4 for moving the movable gripping member, and a second gripping means including a pair of finger members 5 and 6 driven by the driving means 4 and capable of opening and closing. Wherein the drive means moves linearly
4a, wherein the movable gripping member 3 of the first gripping means is
A pair of finger members 5, 6 of the second gripping means,
Extends long in a direction different from the direction of movement of the operating member and
Connected to the operating member via two links 8, 10, 11
It is characterized in that it has a so that.

[0006]

The driving means 4 comprises, for example, an air cylinder whose piston rod is operable in the direction of arrow X. In the first gripping means, the movable gripping member 3 is
As a result, a relatively large component can be gripped between the fixed gripping member 2 and the movable gripping member 3 when approaching the fixed gripping member 2, for example. In the second gripping means, at least one of the pair of finger members 5 and 6 (finger member 5 in FIG. 1) is moved in the direction of arrow X by the driving means 4 and the finger member 5 is moved.
For example, a relatively small part can be gripped between the finger member 6 and the finger member 6. Thus, the first holding means and the second
Are driven by common driving means, and can be used without replacing any of the gripping members (finger members).

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In FIG.
A fixed plate 1a extending in a direction orthogonal to the axis of the robot 1;
1b, a side plate 1c parallel to the axis of the robot 1, and a top plate 1d are attached. The side plate 1c connects the fixed plate 1a and the fixed plate 1b, and a substantially rectangular parallelepiped internal space is formed therein, and the top plate 1d partially covers the internal space. The driving means 4 is formed of an air cylinder fixed to the fixed plate 1a in this internal space, and includes a piston rod which operates in a direction parallel to the axis of the robot 1.

The fixed gripping member 2 is fixed to a fixed plate 1b on the distal end side, and is formed by bending the distal ends of a pair of parallel rod-shaped members 2a extending from the fixed plate 1b in a direction parallel to the axis of the robot 1 substantially at right angles. It was done. Rod-shaped member 2a
Are provided on both sides of the fixing plate 1b, and the ends thereof are bent inward so as to face each other to form a predetermined interval. The movable gripping member 3 is a round bar-shaped member connected to the piston rod of the driving means 4 in parallel with the axis of the robot 1, and passes through a hole 1 e provided in the fixed plate 1 b on the tip side to the outside of the fixed plate 1 b. Extending. Therefore, when the driving means 4 is operated, the movable gripping member 3 approaches the gripping member 2 and can grip, for example, a relatively large component between the fixed gripping member 2 and the movable gripping member 3.

The finger members 5 and 6 are attached to the top plate 1d in parallel to a direction orthogonal to the axis of the robot 1, and the tips protrude outside the top plate 1d. One finger member 6 is directly attached to the top plate 1d, and the other finger member 5 is attached to the top plate 1d via the bearing engaging portion 5a and the linear bearing 7. This bearing engaging portion 5a
Is connected to the piston rod of the driving means 4 via the connecting plate 8. Therefore, the finger member 5 can be moved in the direction of operation of the driving means 4, that is, in the direction parallel to the axis of the hand 1, for example, to grip a relatively small part between the finger member 5 and the finger member 6. Can be.

Such a gripping device for a robot is intended to grip, for example, a magnetic disk actuator 100 shown in FIG. 2 and a clip 101 shown in FIG. The magnetic disk actuator 100 is, for example, 2.
5 kg, and the clip 101 is, for example, 10 g. The magnetic disk actuator 100 has a case 102 and a plurality of arms 104 rotatably mounted on a pivot shaft 103. At the end of each arm 104, two read heads 10 are provided.
5 is installed. The two read heads 105 of each arm 104 are mounted on outwardly acting spring members that move away from each other. Accordingly, adjacent read heads 105 of adjacent arms 104 come into contact with each other.

The clip 101 has protrusions 106 which are spaced apart like comb teeth. When attaching the clip 101 to the actuator 100 of the magnetic disk,
Adjacent read head 105 of arm 104 adjacent to 106
During use, the two read heads 105 of each arm 104 are kept in contact with each other across a magnetic disk (not shown). Slots 107 are provided on both sides of the main body of the clip 101.

When using the robot, as shown in FIG. 2, the robot 1 is operated to bring the fixed gripping member 2 to a position where the fixed gripping member 2 is engaged with the front surface of the case 102 of the actuator 100 of the magnetic disk. Member 3 in the same case
102 to the rear position. Therefore, when the driving means 4 is operated, the movable gripping member 3 approaches the gripping member 2 and can grip the magnetic disk actuator 100 between the fixed gripping member 2 and the movable gripping member 3.

When gripping the clip 101,
By operating the robot 1, the finger members 5 and 6 are brought to positions facing the slots 107 on both sides of the main body of the clip 101, and when the driving means 4 is operated, the finger member 5 approaches the finger member 6. Thus, the clip 101 can be gripped between the finger members 5 and 6. As described above, the first gripping means including the fixed gripping member 2 and the movable gripping member 3 is suitable for gripping a large component, and the second gripping means including the pair of finger members 5 and 6 grips a small component. In particular, the finger members 5 and 6 comprise elongate bar-shaped members so as to be able to engage with the elongate slots 107.

FIGS. 4 to 7 show an embodiment of the present invention. That is, the fixed gripping member 2 and the movable gripping member 3 constitute first gripping means, and the pair of finger members 5 and 6 constitute second gripping means. The driving means 4 is a piston rod 4a
An air cylinder having: Fixed plates 1a and 1b and a side plate 1c are attached to the tip of the robot hand 1. In this case, instead of the top plate 1d, the bottom plate 1f
Are provided, and the pair of finger members 5 and 6 are attached to the bottom plate 1f.

The finger members 5 and 6 are respectively connected to the bottom plate 1 via linear bearings 7 by bearing engaging portions 5a and 5b.
attached to f. Therefore, both the finger members 5 and 6 are movable. The connecting plate 8 connected to the driving means 4 includes:
A bracket-shaped arm 8a extending horizontally from the piston rod 4a in the horizontal direction and reaching the outside of the side plate 1c through the opening 1g of the one side plate 1c; extending downward from this arm 8a and parallel to the side plate 1c Bottom plate 1f
Arm 8b bent inward toward the lower surface of the
Consists of

A bearing engaging portion 8c is provided at an end of the right-angled arm 8b. Further, a linear bearing 9 is provided on the bottom plate 1f in parallel with the linear bearing 7, and a bearing engaging portion 8c of the connecting plate 8 is engaged with the linear bearing 9. Accordingly, the bearing engaging portions 8c of the connecting plate 8 are connected to the bearing engaging portions 5a, 5a of the finger members 5, 6.
6a, and the bearing engaging portion 8c of the connecting plate 8 and the bearing engaging portion 5 of the finger members 5, 6.
a and 6a are connected by links 10 and 11, respectively.
These connections are made by engaging the elongated holes of the links 10 and 11 with the pins of the bearing engaging portions 5a, 6a and 8c.

One link 10 connecting the bearing engaging portion 8c and the bearing engaging portion 5a is longer than the other link 11 and has a fulcrum 12 outside the linear bearing 7. The fulcrum 13 of the link 11 connecting the bearing engaging portion 8c and the bearing engaging portion 6a is located between the linear bearing 7 and the linear bearing 9. Accordingly, when the bearing engaging portion 8c moves in one direction (for example, leftward in FIG. 7) in accordance with the operation of the driving means 4, one of the bearing engaging portions 5a moves leftward as indicated by broken lines. Then, the other bearing engaging portion 6a moves rightward. Therefore, the bearing engaging portions 5a and 6a, that is, the finger members 5 and 6 move so as to move away from each other.
When the driving means 4 operates in the opposite direction, the finger members 5, 6 move so as to approach each other.

The operating stroke of the finger members 5, 6 can be adjusted by the arm lengths on both sides of the fulcrum 12 of the link 10 and the fulcrum 13 of the link 11. Preferably, the actuation stroke of the finger members 5, 6 is smaller than the actuation stroke of the drive means 4, so that the finger members 5, 6 are suitable for gripping the elongated clip 102.

[0019]

As described above, the robot gripping device according to the present invention comprises a fixed gripping member, a movable gripping member movable with respect to the fixed gripping member, and a drive for moving the movable gripping member. First gripping means comprising:
Second gripping means comprising a pair of finger members which can be opened and closed by being driven by the driving means;
Moving the first gripping means
The member is connected to the actuating member and a pair of second gripping means is provided.
The finger member is elongated in a direction different from the direction of movement of the operating member.
Extending and connected to the actuating member via a link
Since the the arrangement, the first gripping means and second gripping means are driven by a common drive means, either of the gripping member (finger members) also be gripped easily plurality of kinds of parts without replacing Can be.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the principle of the present invention.

FIG. 2 is a perspective view showing an actuator of a magnetic disk held by the holding device according to the embodiment of the present invention.

FIG. 3 is a perspective view showing a clip gripped by the gripping device according to the embodiment of the present invention.

FIG. 4 is a plan view showing an embodiment of the present invention.

FIG. 5 is a front view of FIG. 4;

FIG. 6 is a right side view of FIG.

FIG. 7 is a bottom view of FIG. 4;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Robot 2 ... Fixed holding member 3 ... Moving holding member 4 ... Driving means 5, 6 ... Finger member 7 ... Linear bearing

Claims (3)

(57) [Claims] 1. A gripping device attached to a robot (1), comprising: a fixed gripping member (2); a movable gripping member (3) movable with respect to the fixed gripping member; A first gripping means composed of a driving means (4) for moving, and a second gripping means composed of a pair of finger members (5, 6) driven by the driving means (4) and capable of opening and closing. And the driving means comprises an actuating member (4
a) wherein the moving gripping member (3) of the first gripping means comprises
A pair of finger members of the second gripping means coupled to the actuating member;
(5, 6) is in a direction different from the direction of movement of the operating member.
Elongate and actuated via links (8, 10, 11)
A robot gripping device to be connected to a member . 2. The moving gripping member (3) of the first gripping means moves by the same stroke as the operating stroke of the driving means (4), and the pair of finger members (5, 5) of the second gripping means. 6)
2. The robot gripping device according to claim 1, wherein the robot moves less than an operation stroke of the driving unit. 3. The pair of finger members (5, 6) of the second gripping means are mounted on linear bearings (7), respectively, and the driving means via the links (8, 10, 11). The gripping device for a robot according to claim 1, wherein the gripping device is connected to the robot and moved to approach or move away from each other.